Automotive Milling Machine, As Well As Method For Discharging Milled Material

ABSTRACT

In an automotive milling machine, comprising a machine frame, comprising a controller for the travelling and milling operation, comprising a working drum, comprising a transport conveyor, where the transport conveyor is slewable, relative to the machine frame, about a first axis extending essentially horizontally under an elevation angle, and sideways about a second axis extending orthogonally to the first axis under a slewing angle, where the transport conveyor discharges the milled material onto a loading surface of a transport vehicle at a specified conveying speed, and where the controller continuously controls positioning of the milled material automatically via, as a minimum, the slewing angle of the transport conveyor, it is provided for the following features to be achieved: the controller specifies and monitors limit values for a maximum permissible slewing angle range for slewing the transport conveyor variable in accordance with the current operating situation.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The invention relates to an automotive milling machine, a method fordischarging milled material, as well as a road or ground working unit.

2. Description of the Prior Art

With an automotive milling machine, it is known to discharge the milledmaterial onto no less than one transport vehicle comprising a loadingsurface.

The milling machine comprises a controller for the travelling andmilling operation, as well as a working drum for the milling of, forexample, a road pavement. A transport conveyor device, for example, atransport conveyor device comprising no less than one transportconveyor, is present in front of or behind the working drum as seen inthe direction of travel. The transport conveyor device comprises adischarge end at which the milled material is discharged onto theloading surface of the no less than one transport vehicle via a flightpath in the form of a parabolic trajectory attributable to the conveyingspeed. The last or single transport conveyor of the transport conveyordevice as seen in the direction of transport may be slewed sideways,relative to the longitudinal axis of the milling machine, under aspecifiable slewing angle to the left or right and may be adjustable inheight via a specifiable elevation angle. The conveying speed of thetransport conveyor may also be adjustable.

In practical operation, problems arise in coordinating the millingmachine with the transport vehicle.

With a forward-loading milling machine, for example, the milled materialis discharged towards the front onto the transport vehicle drivingahead. The operator of the milling machine needs to signal to thevehicle driver of the transport vehicle as to when the transport vehicleis to continue moving forward and when it is to stop. This leads toproblems because the operator basically needs to concentrate on themilling process and at the same time needs to avoid a collision with thetransport vehicle driving ahead.

An additional problem lies in the fact that the operator of the millingmachine also needs to deal with optimal loading of the loading surfaceby adjusting the slewing angle, elevation angle and conveying speed ofthe last or single transport conveyor of the transport conveyor deviceas seen in the direction of transport and is thus distracted from hisactual task of carrying out the milling operation. A correction of theslewing angle may be required, for example, when altering the steeringdirection of the milling machine or for uniform loading of the loadingsurface.

In case of a rearward-loading milling machine, problems also arise incoordinating the milling machine with the transport vehicle especiallyas the transport vehicle needs to drive behind the milling machine inreverse travel. An even higher level of stress results for the operatorof the milling machine as he needs to control the milling process inforward travel on the one hand, and needs to monitor loading of thetransport vehicle behind the milling machine as seen in the direction oftravel, needs to control the slewing angle, elevation angle and/orconveying speed of the transport conveyor device, and needs tocommunicate the necessary information for the stop-and-go operation tothe vehicle driver on the other.

For reasons of design, the slewing angle range is limited mechanicallyto approx. ±30° with small milling machines and to approx. ±60° withlarge milling machines.

From DE 10 2012 215 013 A (US 2015/0218762), it is known to automate thedischarging procedure where in particular also the slewing angle of thelast or single transport conveyor of the transport conveyor device ofthe automotive milling machine as seen in the direction of transport iscontrollable automatically.

When controlling the slewing angle, the problem arises that, due to themany influencing factors such as, for example, cornering, differenttransport vehicles, distance to the transport vehicle, intermittentoperation of the transport vehicle, the operator of the milling machineis quickly overwhelmed so that, in unfavourable circumstances, themilled material can also come down next to the loading surface of thetransport vehicle. This is accompanied not only by the loss of themilled material but possibly also by extensive reworking in the eventthat the lost milled material comes to lie on a traffic lane extendingnext to the milled track from which it needs to be removed again.

Unintentional controlling errors may occur also in case of an automaticdischarging procedure.

SUMMARY OF THE INVENTION

It is therefore the object of the invention to specify an automotivemilling machine as well as a method for discharging milled material of amilling machine which, with regard to the control of the transportconveyor, avoids controlling errors and milled material losses.

The invention advantageously specifies for the controller to specify andmonitor limit values for a maximum permissible slewing angle range forslewing the transport conveyor.

It is ensured in this way that, in no operating situation, the automaticslewing angle control can slew the transport conveyor into a position inwhich the transport conveyor slews too far to the side so that the pointof impingement of the milled material misses the loading surface. It isunderstood that the specified maximum permissible slewing angle rangelimits the design-dependent maximum slewing range.

The controller may preferably specify the limit values for thepermissible slewing angle range relative to the machine frame and/orrelative to the transport conveyor. The limit values for the permissibleslewing angle range relative to the transport conveyor may be specifiedas a function of time or distance.

Especially when cornering, there is the possibility to specify the limitvalues dynamically in accordance with the current bend radius. Thismeans that the extent of the slewing angle range may remain unalteredbut the alignment of the same relative to the machine frame and/orrelative to the transport conveyor is adjustable in accordance with thecurrent bend radius. It is understood that the extent of the slewingangle range may be different in straight-ahead travel or in cornering sothat the extent of the slewing range is also alterable dynamically.

In particular, the limit values are varied in accordance with thecurrent operating situation.

It is preferably specified for the machine frame and the transportconveyor to comprise one each longitudinal centre line, where thepermissible slewing angle range is limitable unsymmetrically in relationto the longitudinal centre line of the machine frame. The unsymmetricallimitation offers the possibility of considering whether, for example, atraffic lane is present on one of the sides of the loading surface whichmust not be contaminated while, for example, a shoulder is present onthe other side where contamination is irrelevant. The slewing anglerange may be determined in absolute terms with regard to the machineframe.

The permissible slewing angle range in relation to the currentlongitudinal centre line of the transport conveyor may be limitable,symmetrically or unsymmetrically, to a narrower angle range incomparison with the maximum permissible angle range. In addition, thelimit values of the slewing angle range may be limitable as a functionof time or distance.

Hence, there exists a maximum slewing range relative to the machineframe and, within said maximum permissible slewing angle range, apermissible slewing angle range about the longitudinal centre line ofthe transport conveyor.

In this design, it may be specified for the controller to comprise adetection and control unit which controls positioning of the milledmaterial on the loading surface automatically, as a minimum, via theslewing angle and/or via the elevation angle and/or the conveying speedof the transport conveyor.

The detection and control unit determines limit values for the currentpermissible slewing angle range preferably automatically in accordancewith the relative position of the longitudinal centre lines to oneanother and/or the elevation angle adjusted and/or the conveying speedand/or a current steering angle of the milling machine and/or thedistance between the milling machine and the transport vehicle.

The controller may receive an information signal about the working spacenext to the transport vehicle and may reduce or completely lock themaximum permissible slewing angle range in the direction of at least oneside of the transport vehicle if, for example, a traffic lane adjoinssaid at least one side which must not be contaminated. Said informationsignal is preferably entered into the controller or into the detectionand control unit manually by the vehicle driver.

In a preferred embodiment, it is specified for the permissible slewingangle range to be exceedable at a manual control command. It isunderstood that the manual control command is resettable and/or thepermitted exceedance is limitable as a function of time or distance.

Accordingly, it may be specified for the control command to beexecutable repeatedly, preferably after a predetermined lapse of time orafter a minimum distance travelled.

For example, the additionally permitted slewing angle may be related tothe current position of the longitudinal centre line of the transportconveyor, and only one fixed angular amount each may be additionallypermitted in relation to the current initial position.

In particular, following an alteration of the position of thelongitudinal centre line of the transport conveyor, said position mayalso be accepted as the new initial position for limiting the slewingangle range.

It may additionally be specified for the permissible exceedance at amanual control command to be limited in terms of its amount. Forexample, the exceedance may be limited to a small angular amount or to alower slewing speed.

The controller or the detection and control unit, respectively, maydetect the alterable position of the loading surface of the transportvehicle relative to the machine frame or the alterable position of theloading surface of the transport vehicle relative to the transportconveyor and automatically determine limit values for the currentmaximum slewing angle range in accordance with the position of thedetected loading surface and/or the elevation angle adjusted and/or theconveying speed and/or a current steering angle of the milling machineand/or the distance between the milling machine and the transportvehicle.

The controller or the detection and control unit may vary the maximumpermissible slewing angle range also in accordance with the intermittentoperation of the transport vehicle and/or the distance between themilling machine and transport vehicle.

In particular, it may be specified for a first slewing angle range to bespecifiable during stoppage of the transport vehicle, and a secondslewing angle range to be specifiable during movement of the transportvehicle.

The detection and control unit may alternatively also detect the loadingsurface and determine the maximum permissible slewing angle range inaccordance with a predetermined zone on the loading surface and/ordetect the loading condition on the loading surface and vary the maximumpermissible slewing angle range in accordance with the loading conditiondetected.

Such control enables the vehicle driver of the milling machine toconcentrate on the milling operation and on travelling along apredetermined milling track. An automatic discharging procedure can thusbe realized which ensures automatic coordination of the dischargingprocedure with the movement of the milling machine and the transportvehicle also when cornering without the maximum permissible slewingranges of the transport conveyor being exceeded.

In accordance with the loading surfaces of different transport vehiclesand/or in accordance with different loading conditions of the loadingsurface for different positions and/or points of impingement within theposition of a loading surface detected by the detection and controlunit, control data for the slewing angle range, the elevation angleand/or the conveying speed may be stored in a map which is available tothe detection and control unit.

In accordance with the method according to the invention, it isspecified for the maximum permissible slewing angle range for slewingthe transport conveyor to be limited.

The permissible slewing range is preferably specified relative to themachine frame and/or relative to the current position of the transportconveyor. The slewing angle range may also be varied dynamically inaccordance with the current operating situation.

It may be specified to this end that, when cornering, the relativeposition of the slewing angle range to the machine frame and/or thetransport conveyor to be adjusted dynamically in accordance with thecurrent bend radius.

The invention also relates to a road or ground working unit comprisingan automotive milling machine and no less than one transport vehiclemovable independently of the milling machine and positionable relativeto the milling machine in such a fashion that the milled material workedoff by the milling machine is discharged onto the transport vehicle.

Hereinafter, embodiments of the invention are illustrated in more detailwith reference to the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The following is shown:

FIG. 1 a forward-loading road milling machine,

FIG. 2 a rearward-loading road milling machine, and

FIG. 3 a top view of a milling machine according to FIG. 1.

DETAILED DESCRIPTION

FIG. 1 shows a milling machine 1 using as an example a forward-loadingroad milling machine 1 a. Said milling machine 1 comprises a machineframe 2 which is supported by a chassis 4 comprised of, for example,tracked ground-engaging units or wheels, said chassis 4 being connectedto the machine frame 2 via no less than three height adjustment devicesin the design of lifting columns 5. As can be inferred from FIG. 2, theembodiment specifies four lifting columns 5 which can be used to bringthe machine frame 2 into a specifiable plane extending preferablyparallel to the road surface 6 which supports the trackedground-engaging units or wheels of the chassis 4.

The road milling machine shown in FIG. 1 comprises, in longitudinaldirection of the milling machine 1 a, a working drum 22 between thetracked ground-engaging units of the chassis 4.

The milling machines 1 a, 1 b may comprise tracked ground-engaging unitsand/or wheels. The working drum may be adjustable in height via thelifting columns 5 supporting the machine frame 2 or relative to themachine frame 2.

Other designs of a milling machine 1 b may also exhibit the working drum22, for example, at the height of the rear tracked ground-engaging unitsor wheels of the chassis 4.

The transport conveyor device with no less than one transport conveyor11, 12 for transporting away the milled-off milled material may also bearranged at the front end 7 or rear end 8 of the milling machine 1 a, 1b.

FIG. 2 depicts a rearward-loading milling machine 1 b as an example inwhich the transport vehicle 10 drives behind the milling machine inreverse travel.

Provided that sufficient space is available on the side next to themilling machine 1 a, 1 b, the transport vehicle 10 may also be movednext to the milling machine 1 in forward travel.

The directions of travel of the respective vehicles in FIGS. 1 to 3 areindicated by arrows.

In the embodiment shown in FIG. 1, the milled material milled off by theworking drum 22 is discharged onto the loading surface 15 of thetransport vehicle 10 via a first permanently installed transportconveyor 11 of the transport conveyor device which transfers the milledmaterial 14 onto a second slewable transport conveyor 12. As a result ofthe speed of the transport conveyor 12, the milled material 14 is notdischarged immediately at the end of the transport conveyor 12, but themilled material follows a parabolic trajectory so that the point ofimpingement 16 on the loading surface 15 is present at a distance fromthe free end 13 of the transport conveyor 12. The transport conveyor 12may be slewed from a neutral position to the left or to the right viapiston-cylinder units 18 in order to be able to discharge the milledmaterial 14 onto the loading surface 15 even when cornering or in theevent of the transport vehicle 10 driving in an offset track. Inaddition, the vehicle driver of the milling machine 1 a, 1 b can adjustthe elevation angle of the transport conveyor 12 by means of apiston-cylinder unit 20. The elevation angle has an influence on theparabolic trajectory of the milled material 14 and on the position ofthe point of impingement 16, as has the conveying speed of the transportconveyor 12.

FIG. 3 shows an embodiment during straight-ahead travel and with flowingtraffic 41. The milling machine 1, with its longitudinal centre line 42,loads the loading surface 15 of the transport vehicle 10 approximatelycentrally, with an unsymmetrical slewing angle range 36 for thetransport conveyor 12 being specified by a controller 3 or a detectionand control unit 24. As can be inferred from FIG. 3, the slewing anglerange 36 is unsymmetrical, in relation to the longitudinal centre line42 of the milling machine 1 and in relation to the longitudinal centreline 40 of the transport conveyor 12, to a central position of 0° inwhich the longitudinal centre line 40 of the transport conveyor 12 is inalignment with the longitudinal centre line 42 of the milling machine 1.The maximum permissible angle range in the direction of the traffic lane41 extending parallel is smaller than on the side of the loading surface15 facing away from the parallel traffic lane 41. Said slewing anglerange 36 can be varied dynamically by the controller 3 or the detectionand control unit 24, respectively, in accordance with the operatingsituation, namely, in accordance with, for example, one or multiple ofthe following parameters:

relative position of the longitudinal centre lines 40, 42 to oneanother,

elevation angle adjusted,

conveying speed,

current steering angle of the milling machine,

side of the parallel traffic lane 41,

position of the detected loading surface 15,

position of a predetermined zone on the loading surface 15,

stoppage of the transport vehicle or movement of the transport vehicle10,

loading condition on the loading surface 15,

distance of the transport vehicle from the milling machine.

Within the maximum permissible slewing angle range 36, a further slewingangle range 38 may be defined in relation to the longitudinal centreline 40 of the transport conveyor 12 which refers to the currentposition of the longitudinal centre line 40.

The mechanically feasible maximum slewing range of the transportconveyor 12 amounts to ±60° and is inferable from FIG. 3 by thepositions of the transport conveyor illustrated in dashed lines.

Said slewing angle range 38 may also be specified symmetrically oralternatively unsymmetrically to the current position of thelongitudinal centre line 40 in particular in conjunction with atime-based and/or distance-dependent switching controller.

The permission of multiple control commands in rapid succession may belimited in such a fashion that each further control command is possibleonly after the lapse of a predetermined time or distance.

The limit values for the slewing angle ranges 36 and 38 specified by thecontroller 3 or the detection and control unit 24 can be overcomemanually by a corresponding control command to the controller 3 or thedetection and control unit 24, respectively, in which arrangement it mayalternatively also be specified that the limit values of the maximumpermissible slewing angle range 36 must not be exceeded even manually.

In case of emergency, however, the automatic slewing angle control canbe deactivated enabling the vehicle driver to autonomously control theslewing movement of the transport conveyor.

With respect to the slewing angle range 38 relating to the longitudinalcentre line 40, it may also be specified that, in case of an alterationof the current position of the longitudinal centre line 40 relative tothe longitudinal centre line 42, the new position is specified as theinitial position for the slewing angle range 38. This may be the case,for example, after the lapse of a predetermined period of time ordistance travelled, or may be effected at a corresponding controlcommand by the vehicle driver.

In case of the slewing angle range 36 or 38 having been exceeded, areset signal can be used to return to the originally adjusted slewingangle ranges 36 or 38, respectively.

In case of an approved exceedance, the angular amount can be limited,namely, for example, to an amount of 1° to 3°.

It may also be specified for the manual control command to be enterablerepeatedly and, in case of repetition, to be repeatable only after thelapse of a predetermined period of time or after a predetermined minimumdistance travelled.

A further alternative specifies that, in case of exceedance of thepredetermined slewing angle range 38, a lower slewing speed is specifiedfor the transport conveyor 12.

The currently adjusted elevation angle about a horizontal first axis 21or slewing angle about a vertical second axis 23, respectively, may bereported to a detection and control unit 24 which may additionallycomprise no less than one detector 26 that continuously detects theposition of the loading surface 15 and/or of the last or singletransport conveyor 12 as seen in the direction of transport. Saiddetector 26 may be arranged either at the milling machine 1 a, 1 b, atthe end facing the transport conveyor device, or at the free end 13 ofthe transport conveyor 12.

The detection and control unit 24 may be integrated into the controller3 for the travelling and milling operation or may, as a minimum, beconnected to the same in order to, should the need arise, also obtainmachine data such as, for example, on the travel speed and/or a detectedsteering angle of the milling machine 1 a, 1 b and the conveying speedof the transport conveyor 12.

In a specific embodiment, the controller 3 or the detection and controlunit 24, respectively, may detect the alterable position of the loadingsurface 15 of the transport vehicle 10 relative to the machine frame 2or the alterable position of the loading surface 15 of the transportvehicle 10 relative to the transport conveyor 12 and automaticallydetermine limit values for the current maximum slewing angle range 36,38 in accordance with the position of the detected loading surface 15and/or the elevation angle adjusted and/or the conveying speed and/or acurrent steering angle of the milling machine 1 and/or the distancebetween the milling machine 1 and the transport vehicle 10.

The detection and control unit 24 may also undertake the task of fillingthe loading surface 15 in a uniform fashion. A loading program may bespecified for this purpose in order to load the loading surface 15 inaccordance with a predetermined system. In this arrangement, the fillingcondition on the loading surface 15 may be detected and analysed by animage-recording system in order to continuously control the conveyingspeed and/or the position of the discharge end 13 of the transportconveyor 12 relative to the loading surface 15.

Control data for different positions and/or points of impingement 16 maybe stored in a map in accordance with the loading surfaces 15 ofdifferent transport vehicles 10 and/or in accordance with differentloading conditions of the loading surface 15. Such map memory may beintegrated in the detection and control unit 24 or in the controller 3.The control data relate to the slewing angle ranges 36, 38, theelevation angle and/or the conveying speed of the transport conveyor 12for different positions and/or points of impingement 16 within theposition of a loading surface 15 detected by the detection and controlunit 24.

In the specific embodiment, the detection and control unit 24 may detectthe position of the loading surface 15 and/or of the last or singletransport conveyor 12 as seen in the direction of transport continuouslyby means of an image-recording system 28 or a non-optical electronicpositioning system which supplies data for determining the position ofthe loading surface 15 in relation to the machine frame 2 or to thetransport conveyor 12. The information provided by the image-recordingsystem 28 may be evaluated by image-analysing methods which are knownfor themselves.

The controller 3 or the detection and control unit 24, respectively, maycompare the data for position determination with predetermined positiondata in order to, in case of any deviations from the predeterminedtarget position data, perform a continuous positioning control for theposition of the discharge end 13 and/or the point of impingement 16 ofthe milled material 14 and/or a speed control for the conveying speed.

The target position data may be established using a teach-in procedureby means of varying the positions of the vehicles 1 a, 1 b, 10 inaccordance with realistic operating situations and storing theparameters required for each such situation, namely, the maximumpermissible slewing angle range 36 and 38, elevation angle and conveyingspeed of the transport conveyor. In the same way, a loading program mayalso be created. In doing so, variations in control arising, forexample, due to cornering may also be taken into account. In theprocess, the data read in by means of the reading operation may alsodifferentiate as to whether the transport vehicle 10 is driving on theleft or on the right next to the milling track or in the milling trackof the milling machine 1 a, 1 b, and on which side a parallel trafficlane 41 is located.

1-16. (canceled)
 17. An automotive milling machine for milling offmilled material and discharging the milled material onto a loadingsurface of a transport vehicle, the milling machine comprising: amachine frame; a working drum supported from the machine frame formilling off the milled material; a transport conveyor arranged toreceive the milled material milled off by the working drum and todischarge the milled material onto the loading surface of the transportvehicle at a conveying speed, the transport conveyor being mounted onthe machine frame to be pivotable relative to the machine frame about anessentially horizontal first axis to define an elevation angle, and thetransport conveyor being pivotable sideways about a second axisextending orthogonally to the first axis to define a slewing angle; anda controller configured to automatically control positioning of themilled material on the loading surface of the transport vehicle bycontrolling at least the slewing angle of the transport conveyor, thecontroller being configured to specify and monitor limit values for amaximum permissible slewing angle range for slewing the transportconveyor.
 18. The automotive milling machine of claim 17, wherein: thecontroller is configured to specify the limit values for the maximumpermissible slewing angle range dynamically in accordance with a currentbend radius when the milling machine is cornering.
 19. The automotivemilling machine of claim 17, wherein: the controller is configured tospecify the limit values for the maximum permissible slewing angle rangerelative to at least one of the machine frame and a current position ofthe transport conveyor.
 20. The automotive milling machine of claim 19,wherein: the controller is configured to specify the limit values forthe maximum permissible slewing angle range relative to both of themachine frame and the current position of the transport conveyor; andthe controller is configured to specify a first larger maximum slewingangle range relative to the machine frame, and a second narrower maximumslewing angle range relative to the current position of the thetransport conveyor.
 21. The automotive milling machine of claim 17,wherein: the controller includes a detection and control unit configuredto control the positioning of the milled material on the loading surfaceof the transport vehicle by controlling the slewing angle of thetransport conveyor and at least one of the elevation angle and theconveying speed, the detection and control unit being further configuredto specify the limit values for the maximum permissible slewing anglerange in accordance with at least one of: a relative position of themachine frame and the transport conveyor to one another; the elevationangle; the conveying speed; a current steering angle of the millingmachine; and a distance between the milling machine and the transportvehicle.
 22. The automotive milling machine of claim 17, wherein: thecontroller is configured to receive an information signal about anabsence of working space next to the transport vehicle and to reduce themaximum permissible slewing angle range in a direction of at least oneside of the transport vehicle in response to the information signal. 23.The automotive milling machine of claim 17, wherein: the controller isconfigured such that the maximum permissible slewing angle range isexceedable in response to a manual control command input to thecontroller.
 24. The automotive milling machine of claim 23, wherein: thecontroller is configured such that the manual control command isexecutable repeatedly after a predetermined lapse of time.
 25. Theautomotive milling machine of claim 23, wherein: the controller isconfigured such that the manual control command is executable repeatedlyafter a predetermined distance travelled.
 26. The automotive millingmachine of claim 23, wherein: the controller is configured such that anangular amount by which the maximum permissible slewing angle range isexceedable in response to the manual control command input is limited.27. The automotive milling machine of claim 17, wherein: the controlleris configured to detect an alterable position of the loading surface ofthe transport vehicle relative to at least one of the machine frame andthe transport conveyor, and the controller is configured toautomatically specify the limit values for the maximum permissibleslewing angle range in accordance with at least one of: the detectedposition of the loading surface; the elevation angle; the conveyingspeed; a current steering angle of the milling machine; and a distancebetween the milling machine and the transport vehicle.
 28. Theautomotive milling machine of claim 17, wherein: the controller isconfigured to vary the maximum permissible slewing angle range inaccordance with an intermittent operation of the transport vehicle. 29.The automotive milling machine of claim 17, wherein: the controller isconfigured to vary the maximum permissible slewing angle range inaccordance with a distance between the milling machine and the transportvehicle.
 30. The automotive milling machine of claim 17, wherein: thecontroller is configured to detect a predetermined zone on the loadingsurface and to vary the maximum permissible slewing angle range inaccordance with the predetermined zone on the loading surface.
 31. Theautomotive milling machine of claim 17, wherein: the controller isconfigured to detect a loading condition on the loading surface and tovary the maximum permissible slewing angle range in accordance with theloading condition on the loading surface.
 32. The automotive millingmachine of claim 17 in combination with at least one transport vehiclemovable independently of the milling machine and positionable relativeto the milling machine such that the milled material worked off by themilling machine is dischargeable onto the transport vehicle.
 33. Amethod of discharging worked-off milled material of an automotivemilling machine onto a loading surface of a transport vehicle, themethod comprising: (a) working off milled material with a working drumof the milling machine; (b) transporting the milled material from theworking drum with a transport conveyor and discharging the milledmaterial from the transport conveyor onto the loading surface of thetransport vehicle at a conveying speed, the transport conveyor beingslewable sideways relative to a longitudinal center line of a machineframe of the milling machine to adjust a slewing angle of the transportconveyor, and the transport conveyor having an adjustable elevationangle to adjust a discharge height of the transport conveyor; (c)automatically controlling positioning of the milled material on theloading surface of the transport vehicle by controlling at least theslewing angle of the transport conveyor; and (d) specifying a maximumpermissible slewing angle range and monitoring the slewing angle tomaintain the slewing angle within the maximum permissible slewing anglerange.
 34. The method of claim 33, wherein: step (d) further comprisesspecifying the maximum permissible slewing angle range relative to atleast one of the machine frame and a current position of the transportconveyor.
 35. The method of claim 33, further comprising: duringcornering of the milling machine, dynamically adjusting a position ofthe maximum slewing angle range relative to at least one of the machineframe and the transport conveyor in accordance with a current bendradius.
 36. The method of claim 33, further comprising: continuouslydetecting an alterable position of the loading surface of a currenttransport vehicle relative to at least one of the machine frame and thetransport conveyor; and wherein step (d) further comprises specifyingthe maximum permissible slewing angle range in accordance with at leastone of: the alterable position of the loading surface of the currenttransport vehicle; the elevation angle; the conveying speed; a currentsteering angle of the milling machine; and a distance between themilling machine and the transport vehicle.